Multi-modal Sound Localization from a Mobile Platform
نویسندگان
چکیده
This paper presents a multi-modal sound source localization method for mobile platforms. The sound source localization is performed while the robot is autonomously navigating through the environment by combining the power and bearing estimation given by a steered response power (SRP) algorithm with the range estimation obtained from the on-board laser range finders (LRF). First the positions of the sound sources in the environment are determined by taking into account the robot pose which is estimated with a particle filter and the estimated power is accumulated in the cells of a grid map covering the environment. Finally, a local maxima search is performed on this grid map to find the area with higher estimated sound power that correspond to the sound source locations.
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